Merge pull request #2426 from caternuson/servo_update

Update analog feedback servo

Feedback_Servo_Record_and_Play/feedback_calibrate/code.py

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2019 Carter Nelson for Adafruit Industries
+# SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
 #
 # SPDX-License-Identifier: MIT
 
@@ -7,12 +7,12 @@
 import time
 import board
 import pwmio
-from adafruit_motor import servo
 from analogio import AnalogIn
+from adafruit_motor import servo
 
 # Pin setup
 SERVO_PIN = board.A1
-FEEDBACK_PIN = board.A5
+FEEDBACK_PIN = board.A3
 
 # Calibration setup
 ANGLE_MIN = 0
@@ -27,20 +27,34 @@ servo.angle = None
 feedback = AnalogIn(FEEDBACK_PIN)
 
 print("Servo feedback calibration.")
+
+# Helper function to average analog readings
+def read_feedback(samples=10, delay=0.01):
+    reading = 0
+    for _ in range(samples):
+        reading += feedback.value
+        time.sleep(delay)
+    return int(reading/samples)
+
 # Move to MIN angle
 print("Moving to {}...".format(ANGLE_MIN), end="")
 servo.angle = ANGLE_MIN
 time.sleep(2)
 print("Done.")
-feedback_min = feedback.value
+feedback_min = read_feedback()
+
 # Move to MAX angle
 print("Moving to {}...".format(ANGLE_MAX), end="")
 servo.angle = ANGLE_MAX
 time.sleep(2)
 print("Done.")
-feedback_max = feedback.value
+feedback_max = read_feedback()
+
 # Print results
+print("="*20)
 print("Feedback MIN = {}".format(feedback_min))
 print("Feedback MAX = {}".format(feedback_max))
+print("="*20)
+
 # Deactivate servo
 servo.angle = None

Feedback_Servo_Record_and_Play/feedback_record_play/code.py

@@ -1,42 +1,37 @@
-# SPDX-FileCopyrightText: 2019 Carter Nelson for Adafruit Industries
+# SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
 #
 # SPDX-License-Identifier: MIT
 
 # Example code for recording and playing back servo motion with a
 # analog feedback servo
+# pylint: disable=redefined-outer-name
 
 import time
 import board
 import pwmio
+import keypad
 from simpleio import map_range
 from adafruit_motor import servo
 from analogio import AnalogIn
-from digitalio import DigitalInOut, Direction, Pull
+from digitalio import DigitalInOut, Direction
 
 # Pin setup
 RECORD_PIN = board.D10
 PLAY_PIN = board.D9
 LED_PIN = board.D13
 SERVO_PIN = board.A1
-FEEDBACK_PIN = board.A5
+FEEDBACK_PIN = board.A3
 
 # Record setup
-CALIB_MIN = 2816
-CALIB_MAX = 49632
+CALIB_MIN = 15377
+CALIB_MAX = 42890
 ANGLE_MIN = 0
 ANGLE_MAX = 180
 SAMPLE_COUNT = 512
 SAMPLE_DELAY = 0.025
 
-# Setup record button
-record_button = DigitalInOut(RECORD_PIN)
-record_button.direction = Direction.INPUT
-record_button.pull = Pull.UP
-
-# Setup play button
-play_button = DigitalInOut(PLAY_PIN)
-play_button.direction = Direction.INPUT
-play_button.pull = Pull.UP
+# Setup buttons
+buttons = keypad.Keys((RECORD_PIN, PLAY_PIN), value_when_pressed=False, pull=True)
 
 # Setup LED
 led = DigitalInOut(LED_PIN)
@@ -59,8 +54,12 @@ print("Servo RecordPlay")
 def play_servo():
     print("Playing...", end="")
     count = 0
-    while play_button.value:
+    while True:
         print(".", end="")
+        event = buttons.events.get()
+        if event:
+            if event.pressed and event.key_number == 1:
+                break
         angle = position[count]
         if angle is None:
             break
@@ -80,8 +79,12 @@ def record_servo():
     led.value = True
     print("Recording...", end="")
     count = 0
-    while record_button.value:
+    while True:
         print(".", end='')
+        event = buttons.events.get()
+        if event:
+            if event.pressed and event.key_number == 0:
+                break
         position[count] = map_range(feedback.value, CALIB_MIN, CALIB_MAX, ANGLE_MIN, ANGLE_MAX)
         count += 1
         if count >= SAMPLE_COUNT:
@@ -92,20 +95,10 @@ def record_servo():
     time.sleep(0.250)
 
 while True:
-    if not record_button.value:
-        time.sleep(0.01)
-        # wait for released
-        while not record_button.value:
-            pass
-        time.sleep(0.02)
-        # OK released!
-        record_servo()
-
-    if not play_button.value:
-        time.sleep(0.01)
-        # wait for released
-        while not play_button.value:
-            pass
-        time.sleep(0.02)
-        # OK released!
-        play_servo()
+    event = buttons.events.get()
+    if event:
+        if event.pressed:
+            if event.key_number == 0:
+                record_servo()
+            elif event.key_number == 1:
+                play_servo()

Feedback_Servo_Record_and_Play/feedback_seek/code.py

@@ -1,24 +1,25 @@
-# SPDX-FileCopyrightText: 2019 Carter Nelson for Adafruit Industries
+# SPDX-FileCopyrightText: 2023 Carter Nelson for Adafruit Industries
 #
 # SPDX-License-Identifier: MIT
 
 # Example code for using analog feedback value to seek a position
+import time
 import board
 import pwmio
+from analogio import AnalogIn
 from simpleio import map_range
 from adafruit_motor import servo
-from analogio import AnalogIn
 
 # Demo angles
 angles = [0, 180, 0, 45, 180]
 
 # Pin setup
 SERVO_PIN = board.A1
-FEEDBACK_PIN = board.A5
+FEEDBACK_PIN = board.A3
 
 # Calibration setup
-CALIB_MIN = 18112
-CALIB_MAX = 49408
+CALIB_MIN = 15377
+CALIB_MAX = 42890
 ANGLE_MIN = 0
 ANGLE_MAX = 180
 
@@ -31,9 +32,11 @@ servo.angle = None
 feedback = AnalogIn(FEEDBACK_PIN)
 
 def get_position():
+    '''Turns analog feedback raw ADC value into angle.'''
     return map_range(feedback.value, CALIB_MIN, CALIB_MAX, ANGLE_MIN, ANGLE_MAX)
 
 def seek_position(position, tolerance=2):
+    '''Move to specified angle and wait until move is complete.'''
     servo.angle = position
 
     while abs(get_position() - position) > tolerance:
@@ -42,5 +45,13 @@ def seek_position(position, tolerance=2):
 print("Servo feedback seek example.")
 for angle in angles:
     print("Moving to {}...".format(angle), end="")
+    start = time.monotonic()
     seek_position(angle)
-    print("Done.")
+    end = time.monotonic()
+    print("Done. Move took {} seconds.".format(end-start))
+    print("Pausing for 1 second.")
+    time.sleep(1)
+
+# Deactivate servo
+print("Finished. Deactivating servo.")
+servo.angle = None